Jenner has made a living in performing on television. He began with a regular role as Tony Cooper on the daytime soap opera Somerset, beginning in 1974. His many co-stars on this series included Star Trek II: The Wrath of Khan actress Bibi Besch (Carol Marcus). When that series ended in 1976, Jenner found himself cast in yet another daytime soap opera: Another World, on which he spent the 1976-77 season.

Besides his recurring role on Deep Space Nine, Jenner also made four appearances as Jeff Cunningham on Knots Landing in 1981. He went on to play Dr. Jerry Kenderson on Dallas, the series from which Knots Landing was spun off, from 1984 to 1986. Among the fellow Star Trek alumni who appeared with him on this series were Glenn Corbett, Susan Howard, Leigh J. McCloskey, William Smithers, Morgan Woodward and John Beck. And in 1986, Jenner co-starred with fellow Deep Space Nine performer Richard Kiley in the TV mini-series If Tomorrow Comes.

Jenner is recognized by more contemporary audiences for his recurring role as Police Lieutenant Lieu Murtaugh on the sitcom Family Matters. He played this role repeatedly between 1990 and 1992. He was also a frequent regular on the 1980s editions of the game show Pyramid.

Jenner died on 9 August 2016. His death was confirmed on Twitter by Armin Shimerman. [1] He died of acute myeloid leukemia in Los Angeles, California. [2]